diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf new file mode 100644 index 000000000..ad49d03e0 --- /dev/null +++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf @@ -0,0 +1,87 @@ +[GNSS-SDR] + +;######### GLOBAL OPTIONS ################## +GNSS-SDR.internal_fs_sps=6625000 + +;######### SIGNAL_SOURCE CONFIG ############ +SignalSource.implementation=File_Signal_Source +SignalSource.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE +SignalSource.item_type=ibyte +SignalSource.sampling_frequency=6625000 +;SignalSource.freq=0 +;SignalSource.samples=66250000 +SignalSource.samples=0 +SignalSource.dump=false; +SignalSource.dump_filename=/archive/signal_glonass.bin + +;######### SIGNAL_CONDITIONER CONFIG ############ +SignalConditioner.implementation=Signal_Conditioner +DataTypeAdapter.implementation=Ibyte_To_Complex +InputFilter.implementation=Pass_Through +InputFilter.item_type=gr_complex +Resampler.implementation=Direct_Resampler +Resampler.sample_freq_in=6625000 +Resampler.sample_freq_out=6625000 +Resampler.item_type=gr_complex + +;######### CHANNELS GLOBAL CONFIG ############ +Channel.signal=1G +Channels.in_acquisition=1 +Channels_1G.count=8 + +Channel0.satellite=24 ; k= +Channel1.satellite=1 ; k=1 +Channel2.satellite=2 ; k=-4 +Channel3.satellite=20 ; k=-5 +Channel4.satellite=21 ; k=4 + +;######### ACQUISITION GLOBAL CONFIG ############ +Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition +Acquisition_1G.item_type=gr_complex +Acquisition_1G.threshold=0.0 +Acquisition_1G.pfa=0.0001 +Acquisition_1G.if=0 +Acquisition_1G.doppler_max=10000 +Acquisition_1G.doppler_step=250 +Acquisition_1G.dump=true; +Acquisition_1G.dump_filename=/archive/glo_acquisition.dat +;Acquisition_1G.coherent_integration_time_ms=1 +;Acquisition_1G.max_dwells = 5 + +;######### TRACKING GLOBAL CONFIG ############ +Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking +Tracking_1G.item_type=gr_complex +Tracking_1G.if=0 +Tracking_1G.early_late_space_chips=0.5 +Tracking_1G.pll_bw_hz=25.0; +Tracking_1G.dll_bw_hz=3.0; +Tracking_1G.pll_bw_narrow_hz = 20.0; +Tracking_1G.dll_bw_narrow_hz = 2.0; +Tracking_1G.extend_correlation_ms = 1; +Tracking_1G.dump=true; +Tracking_1G.dump_filename=/archive/glo_tracking_ch_ + + +;######### TELEMETRY DECODER GPS CONFIG ############ +TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder + +;######### OBSERVABLES CONFIG ############ +Observables.implementation=Hybrid_Observables +Observables.dump=true; +Observables.dump_filename=/archive/glo_observables.dat + +;######### PVT CONFIG ############ +PVT.implementation=RTKLIB_PVT +PVT.positioning_mode=Single +PVT.output_rate_ms=100 +PVT.display_rate_ms=500 +PVT.trop_model=Saastamoinen +PVT.flag_rtcm_server=true +PVT.flag_rtcm_tty_port=false +PVT.rtcm_dump_devname=/dev/pts/1 +PVT.rtcm_tcp_port=2101 +PVT.rtcm_MT1019_rate_ms=5000 +PVT.rtcm_MT1045_rate_ms=5000 +PVT.rtcm_MT1097_rate_ms=1000 +PVT.rtcm_MT1077_rate_ms=1000 +PVT.rinex_version=2 diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc index 2edfba8bf..8ba984873 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc @@ -112,6 +112,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc( d_flag_preamble = false; d_channel = 0; flag_TOW_set = false; + d_preamble_time_samples = 0; } @@ -274,6 +275,8 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib LOG(INFO) << "Preamble detection for GLONASS L1 C/A SAT " << this->d_satellite; // Enter into frame pre-detection status d_stat = 1; + d_preamble_time_samples = d_symbol_history.at(0).Tracking_sample_counter; // record the preamble sample stamp + } } else if (d_stat == 1) // posible preamble lock @@ -282,12 +285,17 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attrib { //check preamble separation preamble_diff = d_sample_counter - d_preamble_index; + // Record the PRN start sample index associated to the preamble + d_preamble_time_samples = d_symbol_history.at(0).Tracking_sample_counter; if (abs(preamble_diff - GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS) == 0) { //try to decode frame LOG(INFO) << "Starting string decoder for GLONASS L1 C/A SAT " << this->d_satellite; d_preamble_index = d_sample_counter; //record the preamble sample stamp d_stat = 2; + // send asynchronous message to tracking to inform of frame sync and extend correlation time + pmt::pmt_t value = pmt::from_double(static_cast(d_preamble_time_samples) / static_cast(d_symbol_history.at(0).fs) - 0.001); + this->message_port_pub(pmt::mp("preamble_timestamp_s"), value); } else { diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h index 34bcec2b0..8973d7d95 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h @@ -79,6 +79,9 @@ private: void decode_string(double *symbols, int frame_length); + //!< Help with coherent tracking + double d_preamble_time_samples; + //!< Preamble decoding unsigned short int d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS]; int *d_preambles_symbols; diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc index 3fa066e5f..cc9a1687b 100644 --- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc @@ -215,6 +215,9 @@ glonass_l1_ca_dll_pll_c_aid_tracking_cc::glonass_l1_ca_dll_pll_c_aid_tracking_cc d_code_error_filt_chips_s = 0.0; d_carr_phase_error_secs_Ti = 0.0; d_preamble_timestamp_s = 0.0; + + d_carrier_frequency_hz = 0.0; + //set_min_output_buffer((long int)300); } @@ -263,10 +266,14 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking() d_acq_code_phase_samples = corrected_acq_phase_samples; - d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)); + // d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)); // d_carrier_doppler_hz = d_acq_carrier_doppler_hz; + // d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); + d_carrier_frequency_hz = d_acq_carrier_doppler_hz + d_if_freq + (DFRQ1_GLO * GLONASS_PRN.at(d_acquisition_gnss_synchro->PRN)); + d_carrier_doppler_hz = d_acq_carrier_doppler_hz; + d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_frequency_hz / static_cast(d_fs_in); + - d_carrier_phase_step_rad = GLONASS_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); // DLL/PLL filter initialization d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator @@ -299,8 +306,8 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking() // enable tracking d_pull_in = true; d_enable_tracking = true; - d_enable_extended_integration = true; - d_preamble_synchronized = true; + d_enable_extended_integration = false; + d_preamble_synchronized = false; LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz << " Code Phase correction [samples]=" << delay_correction_samples << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples; @@ -309,14 +316,43 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking() glonass_l1_ca_dll_pll_c_aid_tracking_cc::~glonass_l1_ca_dll_pll_c_aid_tracking_cc() { - d_dump_file.close(); + if (d_dump_file.is_open()) + { + try + { + d_dump_file.close(); + } + catch(const std::exception & ex) + { + LOG(WARNING) << "Exception in destructor " << ex.what(); + } + } - volk_gnsssdr_free(d_local_code_shift_chips); - volk_gnsssdr_free(d_correlator_outs); - volk_gnsssdr_free(d_ca_code); + if(d_dump) + { + if(d_channel == 0) + { + std::cout << "Writing .mat files ..."; + } + //gps_l1_ca_dll_pll_c_aid_tracking_cc::save_matfile(); + if(d_channel == 0) + { + std::cout << " done." << std::endl; + } + } - delete[] d_Prompt_buffer; - multicorrelator_cpu.free(); + try + { + volk_gnsssdr_free(d_local_code_shift_chips); + volk_gnsssdr_free(d_correlator_outs); + volk_gnsssdr_free(d_ca_code); + delete[] d_Prompt_buffer; + multicorrelator_cpu.free(); + } + catch(const std::exception & ex) + { + LOG(WARNING) << "Exception in destructor " << ex.what(); + } } diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h index 320d51b0c..17d7eabd0 100644 --- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h +++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h @@ -1,5 +1,5 @@ /*! - * \file glonass_l1_ca_dll_pll_tracking.h + * \file glonass_l1_ca_dll_pll_c_aid_tracking_cc.h * \brief Interface of an adapter of a DLL+PLL tracking loop block * for Glonass L1 C/A to a TrackingInterface * \author Gabriel Araujo, 2017. gabriel.araujo.5000(at)gmail.com @@ -157,6 +157,7 @@ private: double d_code_freq_chips; double d_code_phase_step_chips; double d_carrier_doppler_hz; + double d_carrier_frequency_hz; double d_carrier_phase_step_rad; double d_acc_carrier_phase_cycles; double d_code_phase_samples; diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc index a4e158ae8..f1532ac25 100644 --- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc @@ -181,6 +181,8 @@ Glonass_L1_Ca_Dll_Pll_Tracking_cc::Glonass_L1_Ca_Dll_Pll_Tracking_cc( d_code_phase_step_chips = 0.0; d_carrier_phase_step_rad = 0.0; + d_glonass_freq_ch = 0; + set_relative_rate(1.0 / static_cast(d_vector_length)); }